BoundingBox camera used to detect 2d / 3d bounding boxes of labeled objects in the scene. More...

#include <Ogre2BoundingBoxCamera.hh>

Public Member Functions
virtual	~Ogre2BoundingBoxCamera ()
	Destructor. More...

virtual const std::vector< BoundingBox > &	BoundingBoxData () const override
	Get the BoundingBox data. More...

void	BoundingBoxes3D ()
	Compute the 3D bounding boxes. More...

virtual ignition::common::ConnectionPtr	ConnectNewBoundingBoxes (std::function< void(const std::vector< BoundingBox > &)>) override
	Connect to the new BoundingBox info. More...

void	ConvertToScreenCoord (Ogre::Vector3 &_minVertex, Ogre::Vector3 &_maxVertex) const
	Convert from clip coord (after projection) to screen coord. More...

void	CreateBoundingBoxTexture ()
	Create texture to hold ogre Ids to calculate the boundaries of each ogre id mask. More...

void	CreateRenderTexture ()
	Create dummy render texture. Needed to satisfy inheritance and to set image's dims. More...

virtual void	Destroy () override
	Destroy the camera. More...

virtual void	DrawBoundingBox (unsigned char *_data, const math::Color &_color, const BoundingBox &_box) const override
	Draw a bounding box on the given image. More...

void	DrawLine (unsigned char *_data, const math::Vector2i &_point1, const math::Vector2i &_point2, const ignition::math::Color &_color) const
	Draw line between any 2 points in the image data buffer Algorithm: https://en.wikipedia.org/wiki/Bresenham%27s_line_algorithm. More...

void	FullBoundingBoxes ()
	Compute the full bounding boxes by projecting all mesh vertices of each object, then get the min & max of x & y to get the full bbox. Check the visibility by looping over pixels of the ogre Ids map. More...

virtual void	Init () override
	Initialize the camera. More...

void	MarkVisibleBoxes ()
	Mark the visible boxes by checking the ogre ids map and mark the ogre id which appears in the map. More...

void	MeshMinimalBox (const Ogre::MeshPtr _mesh, const Ogre::Matrix4 &_viewMatrix, const Ogre::Matrix4 &_projMatrix, Ogre::Vector3 &_minVertex, Ogre::Vector3 &_maxVertex, const Ogre::Vector3 &_position, const Ogre::Quaternion &_orientation, const Ogre::Vector3 &_scale)
	Get minimal bounding box of the mesh by projecting the 3d vertices of the vertex buffer to 2d, then get the min & max of x & y. More...

virtual void	PostRender () override
	Preforms any necessary final rendering work. Once rendering is complete the camera will alert any listeners of the new frame event. This function should only be called after a call to Render has successfully been executed. More...

virtual void	PreRender () override
	Prepare this object and any of its children for rendering. This should be called for each object in a scene just before rendering, which can be achieved by a single call to Scene::PreRender. More...

virtual void	Render () override
	Renders the current scene using this camera. This function assumes PreRender() has already been called on the parent Scene, allowing the camera and the scene itself to prepare for rendering. More...

virtual void	SetBoundingBoxType (BoundingBoxType _type) override
	Set BoundingBox Type (Visible / Full) More...

virtual BoundingBoxType	Type () const override
	Get the BoundingBox Type (Visible / Full) More...

void	VisibleBoundingBoxes ()
	Compute the visible bounding boxes by looping over pixels of the ogre Ids map, to get the boundaries of each unique ogre Id mask. More...

Public Member Functions inherited from BaseBoundingBoxCamera< Ogre2Sensor >
virtual	~BaseBoundingBoxCamera ()
	Destructor. More...

virtual const std::vector< BoundingBox > &	BoundingBoxData () const
	Get the BoundingBox data. More...

virtual BoundingBoxType	Type () const
	Get the BoundingBox Type (Visible / Full) More...

Public Member Functions inherited from BoundingBoxCamera
virtual	~BoundingBoxCamera ()
	Destructor. More...

Public Member Functions inherited from Camera
virtual	~Camera ()
	Deconstructor. More...

virtual unsigned int	AntiAliasing () const =0
	Get the level of anti-aliasing used during rendering. More...

virtual double	AspectRatio () const =0
	Get the camera's aspect ratio. More...

virtual Image	CreateImage () const =0
	Created an empty image buffer for capturing images. The resulting image will have sufficient memory allocated for subsequent calls to this camera's Capture function. However, any changes to this cameras properties may invalidate the condition. More...

virtual double	FarClipPlane () const =0
	Get the camera's far clipping plane distance. More...

virtual math::Vector3d	FollowOffset () const =0
	Get the follow offset vector in the frame specified at the time the follow target is set. More...

virtual double	FollowPGain () const =0
	Get the camera follow movement P gain. More...

virtual NodePtr	FollowTarget () const =0
	Get the target node being followed. More...

virtual math::Angle	HFOV () const =0
	Get the camera's horizontal field-of-view. More...

virtual PixelFormat	ImageFormat () const =0
	Get the image pixel format. If the image pixel format has not been set with a valid value, PF_UNKNOWN will be returned. More...

virtual unsigned int	ImageHeight () const =0
	Get the image height in pixels. More...

virtual unsigned int	ImageMemorySize () const =0
	Get the total image memory size in bytes. More...

virtual unsigned int	ImageWidth () const =0
	Get the image width in pixels. More...

virtual double	NearClipPlane () const =0
	Get the camera's near clipping plane distance. More...

virtual math::Matrix4d	ProjectionMatrix () const =0
	Get the projection matrix for this camera. More...

virtual CameraProjectionType	ProjectionType () const =0
	Get the projection type for this camera. More...

virtual unsigned int	RenderPassCount () const =0
	Get the number of render passes applied to the camera. More...

virtual unsigned int	RenderTextureGLId () const =0
	Get the OpenGL texture id associated with the render texture used by this camera. A valid id is returned only if the underlying render engine is OpenGL based. More...

virtual math::Vector3d	TrackOffset () const =0
	Get the track offset vector in the frame specified at the time the track target is set. More...

virtual double	TrackPGain () const =0
	Get the camera track rotation P gain. More...

virtual NodePtr	TrackTarget () const =0
	Get the target node being tracked. More...

virtual math::Matrix4d	ViewMatrix () const =0
	Get the view matrix for this camera. More...

Public Member Functions inherited from Sensor
virtual	~Sensor ()
	Sensor. More...

virtual uint32_t	VisibilityMask () const =0
	Get visibility mask. More...

Public Member Functions inherited from Node
virtual	~Node ()
	Deconstructor. More...

virtual unsigned int	ChildCount () const =0
	Get number of child nodes. More...

virtual math::Pose3d	InitialLocalPose () const =0
	Get the initial local pose. More...

virtual math::Pose3d	LocalPose () const =0
	Get the local pose. More...

virtual math::Vector3d	LocalPosition () const =0
	Get the local position. More...

virtual math::Quaterniond	LocalRotation () const =0
	Get the local rotation. More...

virtual math::Vector3d	Origin () const =0
	Get position of origin. More...

virtual math::Pose3d	WorldPose () const =0
	Get the world pose. More...

virtual math::Vector3d	WorldPosition () const =0
	Get the world position. More...

virtual math::Quaterniond	WorldRotation () const =0
	Get the world rotation. More...

virtual math::Vector3d	WorldScale () const =0
	Get the world scale. More...

Public Member Functions inherited from Object
virtual	~Object ()
	Destructor. More...

virtual unsigned int	Id () const =0
	Get the object ID. This ID will be unique across all objects inside a given scene, but necessarily true for objects across different scenes. More...

virtual std::string	Name () const =0
	Get the object name. This name will be unique across all objects inside a given scene, but necessarily true for objects across different scenes. More...

virtual ScenePtr	Scene () const =0
	Get the Scene that created this object. More...

Public Member Functions inherited from BaseCamera< Ogre2Sensor >
virtual	~BaseCamera ()

virtual void	AddRenderPass (const RenderPassPtr &_pass) override
	Add a render pass to the camera. More...

virtual unsigned int	AntiAliasing () const override
	Get the level of anti-aliasing used during rendering. More...

virtual double	AspectRatio () const override
	Get the camera's aspect ratio. More...

virtual void	Capture (Image &_image) override
	Renders a new frame and writes the results to the given image. This is a convenience function for single-camera scenes. It wraps the pre-render, render, post-render, and get-image calls into a single function. This should be used in applications with multiple cameras or multiple consumers of a single camera's images. More...

virtual common::ConnectionPtr	ConnectNewImageFrame (Camera::NewFrameListener _listener) override
	Subscribes a new listener to this camera's new frame event. More...

virtual void	Copy (Image &_image) const override
	Writes the last rendered image to the given image buffer. This function can be called multiple times after PostRender has been called, without rendering the scene again. Calling this function before a single image has been rendered will have undefined behavior. More...

virtual Image	CreateImage () const override
	Created an empty image buffer for capturing images. The resulting image will have sufficient memory allocated for subsequent calls to this camera's Capture function. However, any changes to this cameras properties may invalidate the condition. More...

virtual RenderWindowPtr	CreateRenderWindow () override
	Create a render window. More...

virtual double	FarClipPlane () const override
	Get the camera's far clipping plane distance. More...

virtual math::Vector3d	FollowOffset () const override
	Get the follow offset vector in the frame specified at the time the follow target is set. More...

virtual double	FollowPGain () const override
	Get the camera follow movement P gain. More...

virtual NodePtr	FollowTarget () const override
	Get the target node being followed. More...

virtual math::Angle	HFOV () const override
	Get the camera's horizontal field-of-view. More...

virtual PixelFormat	ImageFormat () const override
	Get the image pixel format. If the image pixel format has not been set with a valid value, PF_UNKNOWN will be returned. More...

virtual unsigned int	ImageHeight () const override
	Get the image height in pixels. More...

virtual unsigned int	ImageMemorySize () const override
	Get the total image memory size in bytes. More...

virtual unsigned int	ImageWidth () const override
	Get the image width in pixels. More...

virtual double	NearClipPlane () const override
	Get the camera's near clipping plane distance. More...

virtual math::Vector2i	Project (const math::Vector3d &_pt) const override
	Project point in 3d world space to 2d screen space. More...

virtual math::Matrix4d	ProjectionMatrix () const override
	Get the projection matrix for this camera. More...

virtual CameraProjectionType	ProjectionType () const override
	Get the projection type for this camera. More...

virtual void	RemoveRenderPass (const RenderPassPtr &_pass) override
	Remove a render pass from the camera. More...

virtual RenderPassPtr	RenderPassByIndex (unsigned int _index) const override
	Get a render passes by index. More...

virtual unsigned int	RenderPassCount () const override
	Get the number of render passes applied to the camera. More...

virtual unsigned int	RenderTextureGLId () const override
	Get the OpenGL texture id associated with the render texture used by this camera. A valid id is returned only if the underlying render engine is OpenGL based. More...

virtual bool	SaveFrame (const std::string &_name) override
	Writes the previously rendered frame to a file. This function can be called multiple times after PostRender has been called, without rendering the scene again. Calling this function before a single image has been rendered will have undefined behavior. More...

virtual void	SetAntiAliasing (const unsigned int _aa) override
	Set the level of anti-aliasing used during rendering. If a value of 0 is given, no anti-aliasing will be performed. Higher values can significantly slow-down rendering times, depending on the underlying render engine. More...

virtual void	SetAspectRatio (const double _ratio) override
	Set the camera's aspect ratio. This value determines the cameras vertical field-of-view. It is often the. More...

virtual void	SetFarClipPlane (const double _far) override
	Set the camera's far clipping plane distance. More...

virtual void	SetFollowOffset (const math::Vector3d &_offset) override
	Set offset of camera from target node being followed. The offset will be in the frame that is specified at the time the follow target is set. More...

virtual void	SetFollowPGain (const double _pGain) override
	Set follow P Gain. Determines how fast the camera moves to follow the target node. Valid range: [0-1]. More...

virtual void	SetFollowTarget (const NodePtr &_target, const math::Vector3d &_Offset, const bool _worldFrame) override
	Set a node for camera to follow. The camera will automatically update its position to keep itself at the specified offset distance from the target being followed. If null is specified, camera follow is disabled. In contrast to SetTrackTarget, the camera does not change its orientation when following is enabled. More...

virtual void	SetHFOV (const math::Angle &_hfov) override
	Set the camera's horizontal field-of-view. More...

virtual void	SetImageFormat (PixelFormat _format) override
	Set the image pixel format. More...

virtual void	SetImageHeight (const unsigned int _height) override
	Set the image height in pixels. More...

virtual void	SetImageWidth (const unsigned int _width) override
	Set the image width in pixels. More...

virtual void	SetMaterial (const MaterialPtr &_material) override
	Set a material that the camera should see on all objects. More...

virtual void	SetNearClipPlane (const double _near) override
	Set the camera's near clipping plane distance. More...

virtual void	SetProjectionMatrix (const math::Matrix4d &_matrix) override
	Set the projection matrix for this camera. This overrides the standard projection matrix computed based on camera parameters. More...

virtual void	SetProjectionType (CameraProjectionType _type) override
	Set the projection type for this camera This changes the projection matrix of the camera based on the camera projection type. A custom projection matrix can be specified via `SetProjectionMatrix` to override the provided one. To disable the custom projection matrix, just call this function again with the desired projection type. More...

virtual void	SetShadowsDirty () override

virtual void	SetTrackOffset (const math::Vector3d &_offset) override
	Set track offset. Camera will track a point that's at an offset from the target node. The offset will be in the frame that is specified at the time the track target is set. More...

virtual void	SetTrackPGain (const double _pGain) override
	Set track P Gain. Determines how fast the camera rotates to look at the target node. Valid range: [0-1]. More...

virtual void	SetTrackTarget (const NodePtr &_target, const math::Vector3d &_offset, const bool _worldFrame) override
	Set a node for camera to track. The camera will automatically change its orientation to face the target being tracked. If null is specified, tracking is disabled. In contrast to SetFollowTarget the camera does not change its position when tracking is enabled. More...

virtual math::Vector3d	TrackOffset () const override
	Get the track offset vector in the frame specified at the time the track target is set. More...

virtual double	TrackPGain () const override
	Get the camera track rotation P gain. More...

virtual NodePtr	TrackTarget () const override
	Get the target node being tracked. More...

virtual void	Update () override
	Renders a new frame. This is a convenience function for single-camera scenes. It wraps the pre-render, render, and post-render into a single function. This should be used in applications with multiple cameras or multiple consumers of a single camera's images. More...

virtual math::Matrix4d	ViewMatrix () const override
	Get the view matrix for this camera. More...

virtual VisualPtr	VisualAt (const gz::math::Vector2i &_mousePos) override
	Get the visual for a given mouse position param[in] _mousePos mouse position. More...

Public Member Functions inherited from Ogre2Sensor
virtual	~Ogre2Sensor ()
	Destructor. More...

Public Member Functions inherited from BaseSensor< Ogre2Node >
virtual	~BaseSensor ()

virtual void	SetVisibilityMask (uint32_t _mask) override
	Set visibility mask. More...

virtual uint32_t	VisibilityMask () const override
	Get visibility mask. More...

Public Member Functions inherited from Ogre2Node
virtual	~Ogre2Node ()
	Destructor. More...

virtual bool	HasParent () const override
	Determine if this Node is attached to another Node. More...

virtual bool	InheritScale () const override
	Determine if this visual inherits scale from this parent. More...

virtual math::Vector3d	LocalScale () const override
	Get the local scale. More...

virtual Ogre::SceneNode *	Node () const
	Get a pointer to the underlying scene node. More...

virtual NodePtr	Parent () const override
	Get the parent Node. More...

virtual void	SetInheritScale (bool _inherit) override
	Specify if this visual inherits scale from its parent. More...

Public Member Functions inherited from BaseNode< Ogre2Object >
virtual	~BaseNode ()

virtual void	AddChild (NodePtr _child) override
	Add the given node to this node. If the given node is already a child, no work will be done. More...

virtual NodePtr	ChildById (unsigned int _id) const override
	Get node with given ID. If no child exists with given ID, NULL will be returned. More...

virtual NodePtr	ChildByIndex (unsigned int _index) const override
	Get node at given index. If no child exists at given index, NULL will be returned. More...

virtual NodePtr	ChildByName (const std::string &_name) const override
	Get node with given name. If no child exists with given name, NULL will be returned. More...

virtual unsigned int	ChildCount () const override
	Get number of child nodes. More...

virtual bool	HasChild (ConstNodePtr _child) const override
	Determine if given node is an attached child. More...

virtual bool	HasChildId (unsigned int _id) const override
	Determine if node with given ID is an attached child. More...

virtual bool	HasChildName (const std::string &_name) const override
	Determine if node with given name is an attached child. More...

virtual bool	HasUserData (const std::string &_key) const override
	Check if node has custom data. More...

virtual bool	InheritScale () const override=0
	Determine if this visual inherits scale from this parent. More...

virtual math::Pose3d	InitialLocalPose () const override
	Get the initial local pose. More...

virtual math::Pose3d	LocalPose () const override
	Get the local pose. More...

virtual math::Vector3d	LocalPosition () const override
	Get the local position. More...

virtual math::Quaterniond	LocalRotation () const override
	Get the local rotation. More...

virtual math::Vector3d	LocalScale () const override=0
	Get the local scale. More...

virtual math::Vector3d	Origin () const override
	Get position of origin. More...

virtual NodePtr	Parent () const override=0
	Get the parent Node. More...

virtual NodePtr	RemoveChild (NodePtr _child) override
	Remove (detach) the given node from this node. If the given node is not a child of this node, no work will be done. More...

virtual NodePtr	RemoveChildById (unsigned int _id) override
	Remove (detach) the node with the given ID from this node. If the specified node is not a child of this node, no work will be done. More...

virtual NodePtr	RemoveChildByIndex (unsigned int _index) override
	Remove (detach) the node at the given index from this node. If the specified node is not a child of this node, no work will be done. More...

virtual NodePtr	RemoveChildByName (const std::string &_name) override
	Remove (detach) the node with the given name from this node. If the specified node is not a child of this node, no work will be done. More...

virtual void	RemoveChildren () override
	Remove all child nodes from this node This detaches all the child nodes but does not destroy them. More...

virtual void	RemoveParent () override
	Detach this Node from its parent. If this Node does not have a parent, no work will be done. More...

virtual void	Scale (const math::Vector3d &_scale) override
	Scale the current scale by the given scalars. More...

virtual void	Scale (double _scale) override
	Scale the current scale by the given scalar. The given scalar will be assigned to the x, y, and z coordinates. More...

virtual void	Scale (double _x, double _y, double _z) override
	Scale the current scale by the given scalars. More...

virtual void	SetLocalPose (const math::Pose3d &_pose) override
	Set the local pose. More...

virtual void	SetLocalPosition (const math::Vector3d &_position) override
	Set the local position. More...

virtual void	SetLocalPosition (double _x, double _y, double _z) override
	Set the local position. More...

virtual void	SetLocalRotation (const math::Quaterniond &_rotation) override
	Set the local rotation. More...

virtual void	SetLocalRotation (double _r, double _p, double _y) override
	Set the local rotation. More...

virtual void	SetLocalRotation (double _w, double _x, double _y, double _z) override
	Set the local rotation. More...

virtual void	SetLocalScale (const math::Vector3d &_scale) override
	Set the local scale. More...

virtual void	SetLocalScale (double _scale) override
	Set the local scale. The given scale will be assigned to the x, y, and z coordinates. More...

virtual void	SetLocalScale (double _x, double _y, double _z) override
	Set the local scale. More...

virtual void	SetOrigin (const math::Vector3d &_origin) override
	Set position of origin. The position should be relative to the original origin of the geometry. More...

virtual void	SetOrigin (double _x, double _y, double _z) override
	Set position of origin. The position should be relative to the original origin of the geometry. More...

virtual void	SetUserData (const std::string &_key, Variant _value) override
	Store any custom data associated with this node. More...

virtual void	SetWorldPose (const math::Pose3d &_pose) override
	Set the world pose. More...

virtual void	SetWorldPosition (const math::Vector3d &_position) override
	Set the world position. More...

virtual void	SetWorldPosition (double _x, double _y, double _z) override
	Set the world position. More...

virtual void	SetWorldRotation (const math::Quaterniond &_rotation) override
	Set the world rotation. More...

virtual void	SetWorldRotation (double _r, double _p, double _y) override
	Set the world rotation. More...

virtual void	SetWorldRotation (double _w, double _x, double _y, double _z) override
	Set the world rotation. More...

virtual void	SetWorldScale (const math::Vector3d &_scale) override
	Set the world scale. More...

virtual void	SetWorldScale (double _scale) override
	Set the world scale. The given scale will be assigned to the x, y, and z coordinates. More...

virtual void	SetWorldScale (double _x, double _y, double _z) override
	Set the world scale. More...

virtual Variant	UserData (const std::string &_key) const override
	Get custom data stored in this node. More...

virtual math::Pose3d	WorldPose () const override
	Get the world pose. More...

virtual math::Vector3d	WorldPosition () const override
	Get the world position. More...

virtual math::Quaterniond	WorldRotation () const override
	Get the world rotation. More...

virtual math::Vector3d	WorldScale () const override
	Get the world scale. More...

virtual math::Pose3d	WorldToLocal (const math::Pose3d &_pose) const override
	Convert given world pose to local pose. More...

Public Member Functions inherited from Ogre2Object
virtual	~Ogre2Object ()
	Destructor. More...

virtual ScenePtr	Scene () const override

Public Member Functions inherited from BaseObject
virtual	~BaseObject ()

virtual unsigned int	Id () const override

virtual std::string	Name () const override

Protected Member Functions
	Ogre2BoundingBoxCamera ()
	Constructor. More...

virtual RenderTargetPtr	RenderTarget () const override
	Get a pointer to the render target. More...

Protected Member Functions inherited from BaseBoundingBoxCamera< Ogre2Sensor >
	BaseBoundingBoxCamera ()
	Constructor. More...

Protected Member Functions inherited from BaseCamera< Ogre2Sensor >
	BaseCamera ()

virtual void *	CreateImageBuffer () const

virtual void	Load () override

virtual RenderTargetPtr	RenderTarget () const=0

virtual void	Reset ()

Protected Member Functions inherited from Ogre2Sensor
	Ogre2Sensor ()
	Constructor. More...

Protected Member Functions inherited from BaseSensor< Ogre2Node >
	BaseSensor ()

Protected Member Functions inherited from Ogre2Node
	Ogre2Node ()
	Constructor. More...

virtual bool	AttachChild (NodePtr _child) override

virtual NodeStorePtr	Children () const override

virtual bool	DetachChild (NodePtr _child) override

virtual math::Pose3d	RawLocalPose () const override

virtual math::Vector3d	RawLocalPosition () const
	Get the raw local position of the node. More...

virtual math::Quaterniond	RawLocalRotation () const
	Get the raw local rotation of the node. More...

virtual void	SetLocalScaleImpl (const math::Vector3d &_scale) override
	Implementation of the SetLocalScale function. More...

virtual void	SetParent (Ogre2NodePtr _parent)
	Set the parent node. More...

virtual void	SetRawLocalPose (const math::Pose3d &_Pose3d) override

virtual void	SetRawLocalPosition (const math::Vector3d &_position)
	Set the raw local position of the node. More...

virtual void	SetRawLocalRotation (const math::Quaterniond &_rotation)
	Set the raw local rotation of the node. More...

Protected Member Functions inherited from BaseNode< Ogre2Object >
	BaseNode ()

virtual NodeStorePtr	Children () const=0

virtual void	PreRenderChildren ()

virtual math::Pose3d	RawLocalPose () const=0

Protected Member Functions inherited from Ogre2Object
	Ogre2Object ()
	Constructor. More...

Protected Member Functions inherited from BaseObject
	BaseObject ()

Additional Inherited Members
Public Types inherited from Camera
typedef std::function< void(const void *, unsigned int, unsigned int, unsigned int, const std::string &)>	NewFrameListener
	Callback function for new frame render event listeners. More...

Protected Attributes inherited from BaseBoundingBoxCamera< Ogre2Sensor >
std::vector< BoundingBox >	boundingBoxes
	The bounding box data. More...

BoundingBoxType	type
	The bounding box type. More...

Protected Attributes inherited from BaseCamera< Ogre2Sensor >
unsigned int	antiAliasing
	Anti-aliasing. More...

double	aspect
	Aspect ratio. More...

double	farClip
	Far clipping plane distance. More...

NodePtr	followNode
	Target node to follow. More...

math::Vector3d	followOffset
	Offset distance between camera and target node being followed. More...

double	followPGain
	P gain for follow mode. Determines how fast the camera moves to follow the target node. Valid range: [0-1]. More...

bool	followWorldFrame
	Follow target in world frame. More...

math::Angle	hfov
	Horizontal camera field of view. More...

ImagePtr	imageBuffer

double	nearClip
	Near clipping plane distance. More...

common::EventT< void(const void *, unsigned int, unsigned int, unsigned int, const std::string &)>	newFrameEvent

math::Matrix4d	projectionMatrix
	Custom projection matrix. More...

CameraProjectionType	projectionType
	Camera projection type. More...

NodePtr	trackNode
	Target node to track if camera tracking is on. More...

math::Vector3d	trackOffset
	Set camera to track a point offset in target node's local or world frame depending on trackWorldFrame. More...

double	trackPGain
	P gain for tracking. Determines how fast the camera rotates to look at the target node. Valid range: [0-1]. More...

bool	trackWorldFrame
	Track point relative to target in world frame. More...

Protected Attributes inherited from BaseSensor< Ogre2Node >
uint32_t	visibilityMask
	Camera's visibility mask. More...

Protected Attributes inherited from Ogre2Node
Ogre2NodeStorePtr	children
	A list of child nodes. More...

Ogre::SceneNode *	ogreNode = nullptr
	The underlying ogre scene node. More...

Ogre2NodePtr	parent
	Pointer to the parent ogre node. More...

Protected Attributes inherited from BaseNode< Ogre2Object >
ignition::math::Pose3d	initialLocalPose
	Initial local pose for this node. More...

bool	initialLocalPoseSet
	Flag to indicate whether initial local pose is set for this node. More...

math::Vector3d	origin

std::map< std::string, Variant >	userData
	A map of custom key value data. More...

Protected Attributes inherited from Ogre2Object
Ogre2ScenePtr	scene
	Pointer to the ogre scene. More...

Protected Attributes inherited from BaseObject
unsigned int	id

std::string	name

Detailed Description

BoundingBox camera used to detect 2d / 3d bounding boxes of labeled objects in the scene.

Constructor & Destructor Documentation

◆ Ogre2BoundingBoxCamera()

Ogre2BoundingBoxCamera ( )

protected

Constructor.

◆ ~Ogre2BoundingBoxCamera()

virtual ~Ogre2BoundingBoxCamera ( )

virtual

Destructor.

Member Function Documentation

◆ BoundingBoxData()

virtual const std::vector<BoundingBox>& BoundingBoxData ( ) const

overridevirtual

Get the BoundingBox data.

Returns: Buffer of bounding boxes info (label, minX, minY, maxX, maxY). If the camera's bounding box type is 3D, minZ and maxZ are also defined)

Implements BoundingBoxCamera.

◆ BoundingBoxes3D()

void BoundingBoxes3D ( )

Compute the 3D bounding boxes.

◆ ConnectNewBoundingBoxes()

virtual ignition::common::ConnectionPtr ConnectNewBoundingBoxes ( std::function< void(const std::vector< BoundingBox > &)> _subscriber )

overridevirtual

Connect to the new BoundingBox info.

Parameters

[in] _subscriber Subscriber callback function

Returns: Pointer to the new Connection. This must be kept in scope

Implements BaseBoundingBoxCamera< Ogre2Sensor >.

◆ ConvertToScreenCoord()

void ConvertToScreenCoord	(	Ogre::Vector3 &	_minVertex,
		Ogre::Vector3 &	_maxVertex
	)		const

Convert from clip coord (after projection) to screen coord.

Parameters

[in,out]	_minVertex	min vertex in clip coord to screen coord
[in,out]	_maxVertex	max vertex in clip coord to screen coord

◆ CreateBoundingBoxTexture()

void CreateBoundingBoxTexture ( )

Create texture to hold ogre Ids to calculate the boundaries of each ogre id mask.

◆ CreateRenderTexture()

void CreateRenderTexture ( )

Create dummy render texture. Needed to satisfy inheritance and to set image's dims.

◆ Destroy()

virtual void Destroy ( )

overridevirtual

Destroy the camera.

Reimplemented from Ogre2Node.

◆ DrawBoundingBox()

virtual void DrawBoundingBox	(	unsigned char *	_data,
		const math::Color &	_color,
		const BoundingBox &	_box
	)		const

overridevirtual

Draw a bounding box on the given image.

Parameters

[in]	_data	buffer containing the image data
[in]	_color	Color of the bounding box to be drawn
[in]	_box	bounding box to be drawn

Implements BaseBoundingBoxCamera< Ogre2Sensor >.

◆ DrawLine()

void DrawLine	(	unsigned char *	_data,
		const math::Vector2i &	_point1,
		const math::Vector2i &	_point2,
		const ignition::math::Color &	_color
	)		const

Draw line between any 2 points in the image data buffer Algorithm: https://en.wikipedia.org/wiki/Bresenham%27s_line_algorithm.

Parameters

[in]	_data	buffer contains the image data
[in]	_point1	The 1st 2D point in screen coordinates
[in]	_point2	The 2nd 2D point in screen coordinates
[in]	_color	The color of the line

◆ FullBoundingBoxes()

void FullBoundingBoxes ( )

Compute the full bounding boxes by projecting all mesh vertices of each object, then get the min & max of x & y to get the full bbox. Check the visibility by looping over pixels of the ogre Ids map.

◆ Init()

virtual void Init ( )

overridevirtual

Initialize the camera.

Reimplemented from Ogre2Node.

◆ MarkVisibleBoxes()

void MarkVisibleBoxes ( )

Mark the visible boxes by checking the ogre ids map and mark the ogre id which appears in the map.

◆ MeshMinimalBox()

void MeshMinimalBox	(	const Ogre::MeshPtr	_mesh,
		const Ogre::Matrix4 &	_viewMatrix,
		const Ogre::Matrix4 &	_projMatrix,
		Ogre::Vector3 &	_minVertex,
		Ogre::Vector3 &	_maxVertex,
		const Ogre::Vector3 &	_position,
		const Ogre::Quaternion &	_orientation,
		const Ogre::Vector3 &	_scale
	)

Get minimal bounding box of the mesh by projecting the 3d vertices of the vertex buffer to 2d, then get the min & max of x & y.

Parameters

[in]	_mesh	Mesh of the item to get its minimal bbox
[in]	_viewMatrix	Camera view matrix
[in]	_projMatrix	Camera projection matrix
[out]	_minVertex	Minimum of projected x & y & z of the vertices
[out]	_maxVertex	Maximum of projected x & y & z of the vertices
[in]	_position	position of the item in the world space
[in]	_orientation	rotation of the item
[in]	_scale	scale of the item

◆ PostRender()

virtual void PostRender ( )

overridevirtual

Preforms any necessary final rendering work. Once rendering is complete the camera will alert any listeners of the new frame event. This function should only be called after a call to Render has successfully been executed.

Reimplemented from BaseCamera< Ogre2Sensor >.

◆ PreRender()

virtual void PreRender ( )

overridevirtual

Prepare this object and any of its children for rendering. This should be called for each object in a scene just before rendering, which can be achieved by a single call to Scene::PreRender.

Reimplemented from BaseCamera< Ogre2Sensor >.

◆ Render()

virtual void Render ( )

overridevirtual

Renders the current scene using this camera. This function assumes PreRender() has already been called on the parent Scene, allowing the camera and the scene itself to prepare for rendering.

Implements Camera.

◆ RenderTarget()

virtual RenderTargetPtr RenderTarget ( ) const

overrideprotectedvirtual

Get a pointer to the render target.

Returns: Pointer to the render target

◆ SetBoundingBoxType()

virtual void SetBoundingBoxType ( BoundingBoxType _type )

overridevirtual

Set BoundingBox Type (Visible / Full)

Parameters

[in] _type BoundingBox Type (Visible / Full)

Reimplemented from BaseBoundingBoxCamera< Ogre2Sensor >.

◆ Type()

virtual BoundingBoxType Type ( ) const

overridevirtual

Get the BoundingBox Type (Visible / Full)

Returns: BoundingBox Type (Visible / Full)

Implements BoundingBoxCamera.

◆ VisibleBoundingBoxes()

void VisibleBoundingBoxes ( )

Compute the visible bounding boxes by looping over pixels of the ogre Ids map, to get the boundaries of each unique ogre Id mask.

The documentation for this class was generated from the following file:

gz/rendering/ogre2/Ogre2BoundingBoxCamera.hh

Gazebo Rendering

API Reference

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Ogre2BoundingBoxCamera()

◆ ~Ogre2BoundingBoxCamera()

Member Function Documentation

◆ BoundingBoxData()

◆ BoundingBoxes3D()

◆ ConnectNewBoundingBoxes()

◆ ConvertToScreenCoord()

◆ CreateBoundingBoxTexture()

◆ CreateRenderTexture()

◆ Destroy()

◆ DrawBoundingBox()

◆ DrawLine()

◆ FullBoundingBoxes()

◆ Init()

◆ MarkVisibleBoxes()

◆ MeshMinimalBox()

◆ PostRender()

◆ PreRender()

◆ Render()

◆ RenderTarget()

◆ SetBoundingBoxType()

◆ Type()

◆ VisibleBoundingBoxes()